dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #1652 from Zefz/arming_notifications 

Commander: Play tune on disarm and when safety switch is toggled
This commit is contained in:
Thomas Gubler 2015-01-15 11:40:40 +01:00
parent 78b603bb35 ddf65bae04
commit e62bd37e73
1 changed files with 20 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
src/modules/commander/commander.cpp
View File

@ -1243,6 +1243,7 @@ int commander_thread_main(int argc, char *argv[])
orb_check(safety_sub, &updated);
if (updated) {
bool previous_safety_off = safety.safety_off;
orb_copy(ORB_ID(safety), safety_sub, &safety);
/* disarm if safety is now on and still armed */
@ -1256,6 +1257,19 @@ int commander_thread_main(int argc, char *argv[])
arming_state_changed = true;
}
}
//Notify the user if the status of the safety switch changes
if(safety.safety_switch_available && previous_safety_off != safety.safety_off) {
if(safety.safety_off) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
}
else {
tune_neutral(true);
}
status_changed = true;
}
}
/* update vtol vehicle status*/
@ -1949,6 +1963,12 @@ int commander_thread_main(int argc, char *argv[])
/* reset arm_tune_played when disarmed */
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
//Notify the user that it is safe to approach the vehicle
if(arm_tune_played) {
tune_neutral(true);
}
arm_tune_played = false;
}